/PROG  TL1_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1297;
CREATE		= DATE 12-04-21  TIME 11:55:42;
MODIFIED	= DATE 25-05-05  TIME 21:26:30;
FILE_NAME	= TL2_PICK;
VERSION		= 0;
LINE_COUNT	= 26;
MEMORY_SIZE	= 1697;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=ON    ;
   6:J P[1:CLEAR] 90% CNT50    ;
   7:L P[2:APPROACH] 600mm/sec CNT50 ACC70    ;
   8:  WAIT DI[25:TOOL #1]=ON    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 300mm/sec FINE    ;
  11:  DO[13:REQ ATC CHUCK]=OFF ;
  12:  DO[14:REQ ATC UNCHUCK]=ON ;
  13:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  14:  WAIT    .50(sec) ;
  15:L P[5:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[20:TOOL1 POS]=ON ;
  18:  DO[14:REQ ATC UNCHUCK]=OFF ;
  19:  DO[13:REQ ATC CHUCK]=ON ;
  20:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  21:  WAIT   1.00(sec) ;
  22:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  23:L P[7:APPROACH] 300mm/sec CNT50    ;
  24:L P[8:APPROACH] 300mm/sec CNT50    ;
  25:L P[9:CLEAR] 600mm/sec CNT30 ACC70    ;
  26:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -10.000 deg,	J2=   -42.021 deg,	J3=    58.957 deg,
	J4=     -.000 deg,	J5=   -58.957 deg,	J6=   100.000 deg,
	E1=    15.885 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    15.008 deg,	J2=   -34.679 deg,	J3=    75.050 deg,
	J4=    65.511 deg,	J5=   -98.070 deg,	J6=    70.183 deg,
	E1=    15.749 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    21.555 deg,	J2=   -16.182 deg,	J3=    74.161 deg,
	J4=    83.506 deg,	J5=  -110.601 deg,	J6=    72.919 deg,
	E1=    15.885 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.629  mm,	Y =   649.547  mm,	Z = -1446.080  mm,
	W =   169.206 deg,	P =    88.951 deg,	R =    79.434 deg,
	E1=    14.835 deg
};
P[5:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.629  mm,	Y =   488.267  mm,	Z = -1446.079  mm,
	W =   169.199 deg,	P =    88.951 deg,	R =    79.426 deg,
	E1=    14.835 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.630  mm,	Y =   494.243  mm,	Z = -1334.959  mm,
	W =   169.198 deg,	P =    88.951 deg,	R =    79.426 deg,
	E1=    14.835 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3221.321  mm,	Y =   651.225  mm,	Z = -1321.141  mm,
	W =   116.428 deg,	P =    89.731 deg,	R =    26.792 deg,
	E1=    14.172 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    15.008 deg,	J2=   -34.679 deg,	J3=    75.050 deg,
	J4=    65.511 deg,	J5=   -98.070 deg,	J6=    70.183 deg,
	E1=    15.749 deg
};
P[9:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -10.000 deg,	J2=   -42.021 deg,	J3=    58.957 deg,
	J4=     -.000 deg,	J5=   -58.957 deg,	J6=   100.000 deg,
	E1=    15.885 deg
};
/END
